2020 年 86 巻 888 号 p. 20-00004
In the assembly of micro components, a slight impact during assembly affects product performance. This work focuses on the assembly of parts including magnetized components. In the assembly of such parts, the attractive force acting between the parts causes a difficulty of assembly without collision. For this reason, such a work is conducted by skilled workers. However, the lack of successors has become a problem. Therefore, a bilateral operation system is developed for training such successors. A bilateral control is installed using two devices including a voice coil motor, a leaf spring and a sensor. The slave device is controlled to follow the motion of the master device. The force applied to the slave device is estimated with a full order observer to reflect the force on the master device. It is confirmed experimentally that the slave device can follow the master device and that the force applied by the slave device can be presented to the master device. In addition, assembling experiments are conducted using the bilateral operation system. The displacement of each device and the applied external force to slave device are obtained. It is demonstrated that the assembling technique could be evaluated quantitatively.